You can use VBA to talk to the SharePoint SOAP Web services, using the built in SoapClient class.
The web service you want to invoke is Lists.GetListItems - details here on MSDN: http://msdn.microsoft.com/en-us/library/lists.lists.getlistitems(v=office.12).aspx - This page contains all the details you need to make a request, as well as the format of the response so hopefully you'll know how to parse it (if not, google/bing about for 'parsing an XML response form a web service in VBA', pretty sure it's done quite a lot already).
If you've no idea how to build a SOAP request in VBA, here's something I write many many moons ago that adds items to a SharePoint list when things are added to an Outlook Calendar - the important bits to take away and adapt to your requirements are the SoapClient bits.
Calling SharePoint from VBA Sample Code - http://sdrv.ms/12J0M4b